Abstract

This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.

abstract = "This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.",

N2 - This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.

AB - This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.